The best program for this, hands down, is High Criteria's TOTAL RECORDER. It's not free, but certainly worth the low price. (under $20). I don't want to give specifics of hooking up your DVD RCA outputs to the 1/8" stereo input on your soundcard, but it's not a difficult thing to do with the right adapters and cables.
Ripping from a streaming broadcast is equally simple and requires no cabling.
www.highcriteria.com
(No, I don't work for them, but I can't recommend their fine product enough!).